Imaging Catheter

ABSTRACT

An intraluminal imaging catheter comprises an outer sheath of material that is efficiently transmissive of near infrared light, a guidewire lumen section extending distally from a distal end of the outer sheath, a terminal length section of the outer sheath extending proximally from the guidewire lumen section, a cable longitudinally and rotatably disposed lengthwise within the outer sheath and having an imaging tip located at its distal end including optical components for transmitting and receiving near infrared light, wherein the cable is longitudinally extendable to position the imaging tip at the terminal length section of the outer sheath, and reinforcement means for structurally reinforcing the terminal length section of the outer sheath against transverse bending or kinking.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Provisional Patent ApplicationSer. No. 62/558,913, filed on Sep. 15, 2017, which is incorporated byreference herein in its entirety.

FIELD OF THE INVENTION

The present invention relates generally to catheters and, moreparticularly, to intravascular catheters for imaging vessels in thehuman body.

BACKGROUND

Intravascular ultrasound (IVUS) and near-infrared spectroscopy (NIRS)imaging are widely used in interventional cardiology as catheter-carrieddiagnostic tools for assessing a vessel, such as an artery, within thehuman body to determine the need for treatment, to guide intervention,and/or to assess the effectiveness of treatment. Guide wire lumen or“monorail” designs employ a guide wire lumen at the distal end of thecatheter. The IVUS and NIRS imaging components may then be disposed,typically in some form of housing, in close axially spaced relation tothe guide wire lumen.

A key aspect of most imaging catheter designs is the annular thicknessof the catheter sheath at the imaging window, typically locatedimmediately proximal or rearward of the juncture between the terminalend of the sheath and a guidewire lumen, and where the near infra-redenergy passes into and out of the catheter lumen during operation. Morespecifically, accurate optimal imaging requires the thinnest possiblematerial forming the catheter sheath so as not to unduly attenuateand/or distort the optical signals passing therethrough. However, whenthe sheath is subjected to axial (i.e., longitudinal) pushing force asthe catheter is advanced through the patient's vasculature, a cathetersheath made of thin material tends to bend or kink, thereby preventingthe imaging window from being delivered to the intended target locationin an artery or the like. More specifically, once the catheter has beenkinked, the performance of the catheter is substantially degraded;higher friction will be encountered at the location of the kink,adversely affecting torque transmission, as well as making it moredifficult to advance the catheter over the guidewire.

There have been attempts in the prior art to minimize the unwantedbending by strengthening the guidewire lumen. These attempts have metwith somewhat limited success. We have found, however, that the locationalong the length of monorail type imaging catheters that is primarilysubject to kinking is at and immediately distal of the imaging window atthe terminal end section of the sheath where the transition from theguidewire lumen section to the thin sheath material tends to cause thesheath to bend in response the axial pushing forces in opposition tofriction resulting from contact of the guidewire lumen section with thearterial wall.

SUMMARY OF THE INVENTION

In order to minimize the kinking problem described above, the tubing ofan imaging catheter, along a terminal length section of the cathetersheath at the imaging window and forwardly thereof to the monorailsection, is strengthened against transverse bending or kinking by any ofseveral suitable means. For example, the annular thickness of the nearinfrared-transparent material at the catheter terminal length sectionand distally therefrom to the monorail section may be increasedsufficiently to resist or prevent kinking. Alternatively, a sleeve ofdifferent and more rigid material may be placed about the catheter alongthe catheter sheath terminal length section. As a still furtheralternative the sheath terminal length section may be reinforced withembedded material strengthening material or elements. In any of theseapproaches, the strengthening at the applied location must be sufficientto resist catheter bending or kinking when normal pushing forces areapplied longitudinally and resisted by typically occurring opposingforces, such as friction. In addition, the strengthening material may betransmissive to ultrasound energy so that the IVUS components canfunction properly at the reinforced location.

Although it would be desirable for the employed sheath reinforcement topermit near infrared light to be transmitted therethrough withoutsignificant attenuation or distortion, that may not be possible formany, if not most, approaches to cost-effective axial strengthening ofthe imaging window section of the catheter. Accordingly, in anotheraspect of the invention, means may be provided for selectivelyretracting the NIRS light transmitting and receiving components to asection of the catheter located proximally of the reinforced section toan infra-red transparent section of the catheter. Specifically, theoptical components located in the catheter lumen for transmitting andreceiving near infrared light through the catheter tubing wall can beselectively translated axially to a location where optical transmissionthrough the catheter material is more efficient. Since the IVUScomponents are typically disposed in fixed spatial relation with theNIRS components (i.e., located in a common housing or other structure),the IVUS components are likewise axially translated.

An imaging catheter according to an example embodiment may comprise anelongate outer sheath made of a material that is transmissive of nearinfrared light. The outer sheath may include a terminal section at adistal end of the outer sheath and a main section extending from aproximal end of the outer sheath to the terminal section. A guidewiresection may extend distally from the distal end of the outer sheath andincludes a lumen configured to receive a guidewire. A torque cable maybe rotatably disposed in the outer sheath, and an imaging tip may belocated at a distal end of the torque cable. The imaging tip may includeoptical components configured to transmit and receive near infraredlight via the outer sheath. The torque cable may be configured toposition the imaging tip at the terminal length section of said sheath,and a sheath reinforcement may be disposed along only the terminalsection of the outer sheath and may be configured to resist transversebending of the terminal section of the outer sheath. By reinforcing onlythe terminal section of the outer sheath, bending and kinking of theouter sheath may be addressed without adversely affecting imaging of thevessel through the main section of the outer sheath.

In an embodiment, the sheath reinforcement includes a sleeve of materialannularly abutting and surrounding the terminal length section of theouter sheath. Using a sleeve as a sheath reinforcement can facilitatereinforcement of a conventional outer sheath.

In an embodiment, the sleeve is of the same material as the outersheath. Forming the sleeve of the same material as the outer sheath mayfacilitate certain types of imaging through the terminal section of theouter sheath.

In an embodiment, the sleeve is of a material different from that of theouter sheath. Forming the sleeve of a material that is different thanthat of the outer sheath may allow a thinner sleeve to be used and/ormay provide additional or different functionality (such as forcalibration purposes).

In an embodiment, the sheath reinforcement is configured to cause theterminal section of the outer sheath to have a flexure modulus more thantwice that of the main section of the outer sheath, and preferably morethan two and a half times that of the main section of the outer sheath.In an example embodiment, the flexure modulus of the reinforced terminalsection of the outer sheath is greater than 160 Mpa. Configuring thesheath reinforcement to impart such values has been found to provideadequate resistance to bending when the catheter is advanced into avessel.

In an embodiment, a thickness of the terminal section of the outersheath is more than twice that of the main section of the outer sheath.Configuring the sheath reinforcement to have a thickness more than twicethat of the main section of the outer sheath has been found to provideadequate resistance to bending when the catheter is advanced into avessel.

In an embodiment, the sheath reinforcement has a length that is longerthan the imaging tip. Configuring the sheath reinforcement to have alength that is longer than the imaging tip may allow the imaging tip tobe better protected as the catheter is advanced into a vessel.

In an embodiment, the sheath reinforcement extends distally beyond theterminal section of the outer sheath to the guidewire section.Configuring the sheath reinforcement to extend distally beyond theterminal section may further improve bending resistance at the terminalsection and/or strength of the guidewire section.

In an embodiment, the sheath reinforcement is made of a material that isreflective of near infrared light. In an example embodiment, the sheathreinforcement is doped with material that provides near infraredreflectivity, such as barium sulfate or carbon black. Configuring thesheath reinforcement to be made of a material that is reflective of nearinfrared light, such as barium sulfate or carbon black, may allow thesheath reinforcement to also be used for calibration purposes.

In an embodiment, the imaging tip further includes an ultrasoundtransducer and both the terminal section and the sheath reinforcementare both transmissive of ultrasound energy. Providing an ultrasoundtransducer on the imaging tip and onfiguring the sheath reinforcementand terminal section to be transmissive of ultrasound energy mayincrease usefulness of the catheter by allowing it to be used to obtainultrasound data in both the terminal and main sections of the outersheath, even if near infrared data may only be obtained in the mainsection of the outer sheath.

In an embodiment, the sheath reinforcement has optical characteristicsthat significantly limit transmission of near infrared lighttherethrough, and the imaging catheter further comprises a pullbacksystem including a linear translation stage coupled with the torquecable and configured to selectively retract the cable proximally toaxially relocate the imaging tip immediately proximal the terminalsection of the outer sheath and the sheath reinforcement. Providing apullback system that includes a linear translation stage coupled withthe torque cable and configured to selectrively retract the torque cableproximally to relocate or reposition the imaging tip proximally of theterminal section of the outer sheath may facilitate protection of theimaging tip during insertion of the catheter into a vessel andacquisition of data once the catheter is positioned at a desiredlocation in the vessel.

Another aspect of the invention is directed to a method of operating anyof the above catheter embodiments comprising, prior to obtaining nearinfrared spectroscopy data, selectively retracting the torque cableproximally to axially relocate the imaging tip proximal the terminalsection of the outer sheath and the sheath reinforcement.

Another aspect of the invention is directed to a method of preventingkinking of a near infrared light transmissive sheath of an intraluminalimaging catheter as the catheter is pushed distally through a bloodvessel or the like using a guidewire threaded through a guidewire lumensection at a distal end of the catheter, wherein the sheath includes aterminal section adjacent the guidewire lumen section and a main sectionextending proximally from the terminal section. The method comprisesdisposing a sleeve of material in annularly abutting and surroundingrelation about only the terminal section of the sheath, and positioningan imaging tip at the distal end of a torque cable in the terminalsection of the sheath. In an embodiment, the step of disposing comprisesforming the sleeve by molding it with the sheath.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the invention will be described with reference to thefollowing figures, wherein identical structures, elements or parts whichappear in more than one figure are labeled with the same referencenumber, and in which:

FIG. 1 is a perspective view of an imaging catheter;

FIG. 2 is a schematic illustration of the imaging window and monorailsections of an imaging catheter according to the prior art showing IVUSand NIRS components located axially to be aligned with the imagingwindow;

FIG. 3 is a schematic illustration of the imaging window and monorailsections of the imaging catheter of FIG. 2 strengthened againsttransverse bending according to an embodiment of the invention;

FIG. 4 is a schematic illustration of the imaging window and monorailsections of the imaging catheter of FIG. 3 showing the IVUS and NIRScomponents retracted proximally of the strengthened section of thecatheter;

FIG. 5 is a broken cross-sectional side view of an imaging catheteraccording to an embodiment of the invention;

FIG. 5A is a view in transverse cross-section taken along lines 5A-5A inFIG. 5;

FIG. 5B is a view in transverse cross-section taken along lines 5B-5B inFIG. 5;

FIG. 6 is a schematic block diagram of pullback and rotation controlsfor the imaging catheter of FIG. 5; and

FIG. 7 is a flow chart illustrating the various states of control andoperation of the pullback and rotation controls of FIG. 6.

DETAILED DESCRIPTION

Referring to FIG. 1 and the schematic representation in FIG. 2, anintravascular probe 100 includes an imaging catheter 112 with aguidewire lumen 110 defined in a monorail length section 113 at thedistal end of the catheter. The guidewire lumen extends distally from anexit opening 111 defined in the catheter peripheral wall. The cathetercomprises a longitudinally extending inner member in the form of ahollow torque cable or tube 136 and an outer sheath layer 114 composedof a material that is efficiently transmissive (i.e., transparent ortranslucent) to near infrared light. Such material may be, for example,petrothene or any suitable polymer that efficiently transmits infraredlight. Inside the sheath 114 there may be a transmission medium 134,such as saline or other fluid, surrounding an ultrasound transducer 120for providing enhanced improved acoustic transmission for IVUSoperation. The transmission medium 134 is also transparent to theinfrared light emitted from an optical bench 118 for NIRS operation. Theintravascular probe can be inserted into a lumen 106 of an artery usinga guidewire 108 that is threaded through the catheter guidewire lumen110 in monorail section 113.

A delivery optical fiber 122 and a collection optical fiber 123 extendbetween proximal and distal ends of the catheter 112. The distal ends ofboth the collection and delivery fibers are secured to optical bench118. A housing 116 may be located at the distal end or imaging tip ofthe torque cable 136 and houses and/or provides a mounting support forboth the optical bench 118 with its NIRS components and one or moreultrasound transducers 120 serving as the IVUS components. The housing116, including the optical bench 118 and the ultrasound transducer 120,may also be referred to herein as an imaging tip.

A near infrared light source such as a laser (not shown) couples lightinto a proximal end of the delivery optical fiber 122 which guides thelight distally to the reflective surface of a delivery mirror 124located on optical bench 118. Mirror 124 is positioned to redirect thedelivered light 125 toward the arterial wall 104. A collection mirror126, also disposed on the optical bench 118, redirects light 127scattered from various depths of the arterial wall 104 into the distalend of collection fiber 123 which transmits the collected lightproximally in the catheter to an optical detector (not shown) forprocessing and analysis. Other light redirectors can be used in place ofmirrors (e.g., prisms, bends in the optical fiber tips, etc.).

The optical detector that receives the collected light from collectionfiber 123 produces an electrical signal that contains a spectralsignature indicating the composition of the arterial wall 104 and, inparticular, whether the composition is consistent with the presence oflipids found in a vulnerable plaque 102. The spectral signature in theelectrical signal can be analyzed using a spectrum analyzer (not shown)implemented in hardware, software, or a combination thereof.

At the imaging window section of catheter 112, namely the terminallength section of sheath 114 surrounding the mirrors 124, 126 andultrasound transducer 120 and extending to the proximal end of monorailsection 113, the thin annular wall of sheath 114 optimizes transmissionof near infrared light therethrough without significant attenuation anddistortion. As described above, it has been found that the thin sheathwall at the imaging window section is particularly subject to kinking orbending when the catheter is pushed through an artery or similar lumen.In accordance with one aspect of the present invention, in order toprevent or minimize the possibility of such kinking, the terminal lengthsection is reinforced or strengthened. In the embodiment illustrated inFIG. 3, this strengthening may be achieved by a sheath reinforcement inthe form of a sleeve 140 disposed to annularly abut and surround thesheath terminal length section to be protected. In this case the sleeveextends axially from, or slightly proximally of, the proximal end of theNIRS and IVUS imaging components (i.e., housing 116) to approximatelythe proximal end of monorail section 113. Thusly positioned the sleeve140 surrounds and structurally protects the terminal length section ofthe catheter most susceptible to kinking when the catheter is pusheddistally in an artery. Sleeve 140 may be made of a material differentfrom that of the material of catheter sheath 114, or it may be moldedfrom the same material as an annularly thicker integral section of thecatheter.

If sleeve 140 or other sheath reinforcement is constituted such that itspresence does not significantly adversely affect transmission (i.e., bydistortion and/or attenuation) of near infrared energy through thecatheter sheath wall at the imaging window, NIRS and IVUS components canremain in the position shown and function as required. Under anycircumstances, the sleeve or its equivalent sheath reinforcement shouldnot adversely affect transmission of ultrasonic energy to and fromultrasound transducers 120 through the catheter sheath. However, cost orother considerations may force the use of sheath reinforcements thatattenuate and/or distort near infrared transmission therethrough andthereby preclude effective NIRS operation at the strengthened location.Under such circumstances the imaging components may be selectivelypulled a short distance proximally so as to transversely align with anon-reinforced section of the catheter where the annular sheath wall ismaximally transmissive to near infrared light. Such a configuration isillustrated in FIG. 4 where the NIRS and IVUS components are shown in aretracted location, having been pulled back by torque cable 136 (FIG. 3)from the terminal length section of the sheath, so as not to besurrounded by sleeve 140. The pullback operation is described in greaterdetail below.

The material chosen for strengthening the sheath terminal length sectionmay be chosen to permit near infrared reflection measurements to be madefor system normalization or calibration purposes. More specifically, ifthe sleeve 140 is made more highly reflective of near infrared light,with the imaging tip at the distal end of the torque cable positioned inlongitudinal alignment with the sleeve, NIRS imaging may be activated.The delivered light, rather than being transmitted out of the catheterto the arterial tissue, will be substantially reflected back from thesleeve to the collection mirror and transmitted back to the processingsystem as a reference signal. The resulting data can then be used forsystem normalization. If the sleeve is made of a plastic material, thatmaterial may be doped with material (e.g., barium sulfate, carbon black,etc.) that provides the desired near infrared reflectivitycharacteristics.

Regarding the degree of additional stiffness that should be provided bysleeve 140, Table I below shows measurements of stiffness for tenspecimens of catheters at an imaging window location that has not beenstrengthened according to the present invention. It is noted that meanbending or flexure modulus for these measurements is 60.732 MPa. TableII shows measurements of stiffness for ten specimens of catheters at animaging window location that has been strengthened according to thepresent invention. The mean bending or flexure modulus for thesemeasurements is 166.91 MPa, or 2.7 times that for the non-strengthenedcatheters.

TABLE I a) Load at Flex Yield Maximum Specimen Bend Point Diam-Identifi- MODULUS Rate Calculations eter cation [MPa] [mm/min] [N] [mm]1 1 51.678 1.0 0.12134 1.09220 2 2 62.852 1.0 0.12585 1.09220 3 3 65.6361.0 0.10173 1.09220 4 4 54.113 1.0 0.09741 1.09220 5 5 58.030 1.00.10088 1.09220 6 6 69.470 1.0 0.11182 1.09220 7 7 70.698 1.0 0.122141.09220 8 8 64.727 1.0 0.11312 1.09220 9 9 49.218 1.0 0.10239 1.09220 1010 60.899 1.0 0.10184 1.09220 Mean 60.732 1.0 0.10985 1.09220 Standard7.34764 0.00000 0.01041 0.00000 deviation Maximum 70.698 1.0 0.125851.09220 Minimum 49.218 1.0 0.09741 1.09220 Mean + 3 82.775 1.0 0.141071.09220 SD Mean − 3 38.689 1.0 0.07663 1.09220 SD

TABLE II b) Load at Flex Yield Maximum Specimen Bend Point Diam-Identifi- MODULUS Rate Calculations eter cation [MPa] [mm/min] [N] [mm]1 1 158.447 1.0 0.33346 1.14000 2 2 176.793 1.0 0.31100 1.09220 3 3163.882 1.0 0.29833 1.09220 4 4 166.549 1.0 0.30295 1.09220 5 5 158.1161.0 0.30396 1.09220 6 6 165.268 1.0 0.30081 1.09220 7 7 157.906 1.00.28736 1.09220 8 8 180.179 1.0 0.30786 1.09220 9 9 172.945 1.0 0.290211.09220 10 10 162.820 1.0 0.28233 1.09220 Mean 166.291 1.0 0.301831.09698 Standard 7.92374 0.00000 0.01439 0.01512 deviation Maximum180.179 1.0 0.33346 1.14000 Minimum 157.906 1.0 0.28233 1.09220 Mean + 3190.062 1.0 0.34501 1.14233 SD Mean − 3 142.519 1.0 0.25865 1.05163 SD

A less schematically represented embodiment of a catheter 212 embodyingthe principles of the invention is illustrated in FIGS. 5, 5A and 5B.The catheter comprises an inner torque cable or tube 236 and an outerinfrared transmissive sheath layer 214 composed of a material such aspetrothene or any suitable polymer that transmits near infrared light. Aguidewire lumen 210 is defined longitudinally through a guidewire ormonorail length section 213 extending distally from the terminus ofsheath 214 to define the distal end of the catheter. Guidewire lumen 210extends distally from a guidewire exit opening 211 defined through thecatheter peripheral wall. A guidewire 208 may be threaded through thecatheter guidewire lumen 210 in monorail section 213 when the catheteris inserted into a lumen of an artery.

Delivery and collection optical fibers (not shown) extend within torquecable 236 between proximal and distal ends of the catheter. A housing216 may be located at the distal end or tip of the torque cable 236 andhouses and/or serves as a mounting support for NIRS components on anoptical bench (not shown) and IVUS components in the form of one or moreultrasound transducers (not shown). Operation of the catheter in theIVUS and NIRS modes is as described in connection with FIGS. 2, 3 and 4.

Strengthening of catheter 212 is achieved by means of a sleeve 240disposed to annularly abut and surround the terminal length section ofthe catheter to be protected. In this case the sleeve extends axiallyand distally from a location slightly rearward or proximal of theproximal end of the NIRS and IVUS imaging components (i.e., in housing216) to slightly beyond the proximal end of monorail section 213. Thuslypositioned the sleeve 240 surrounds and structurally protects theterminal length section of the sheath, which is most susceptible tokinking when the catheter is pushed distally in an artery. Sleeve 240 ismolded from the same material as the catheter sheath 214, therebyproviding the sheath as an annularly thicker integral section of thecatheter. Alternatively, the sleeve 240 may be made of a strengtheningmaterial different from that of the material of the sheath, such as aplastic, metal, etc., as described above.

In the example shown in FIGS. 5, 5A and 5B, the monorail section 213 hasan elongate portion with a longitudinal axis laterally offset from alongitudinal axis of the outer sheath 214, and a small angled portionextending proximally from the elongate portion to the outer sheath.Guidewire exit 211 is formed through the elongate portion of themonorail section 213 distally of the small angled portion. The sleeve240 extends distally from a location slightly rearward or proximal ofhousing 216 in its fully extended state, across the small angled portionof the monorail section 213 to a location along the elongate portion ofthe monorail section distally of the guidewire exit 211. In this way,sleeve 240 may reinforce and strengthen the monorail section 213 in thevicinity of guidewire exit 211 while also resisting bending or kinkingof the outer sheath 214 proximally of the monorail section. In theexample shown, proximal and distal ends of the sleeve 240 are tapered toavoid edges that can make it more difficult to push the catheter throughthe vessel and/or damage the vessel wall, and a medial portion of thesleeve is bent at an angle corresponding to the angle of the monorail'sangled section. Although these features of the sleeve provide certainadvantages, they may also result in non-uniform ultrasoundtransmissiveness along the length of the sleeve which could potentiallybe misinterpreted as abnormalities in the vessel.

In the embodiment shown, the reinforced portion of the monorail section213 in the vicinity of the guidewire exit 211 has a first wallthickness, the reinforced terminal length section of the outer sheath214 has a second wall thickness smaller than the first wall thickness,and the remainder of the outer sheath 214 has a third wall thicknesssmaller than the second wall thickness. Thus, it will be appreciatedthat each of these sections may have a different flexure modulus.

Exemplary dimensions for the catheter shown in FIGS. 5, 5A and 5B are asfollows, it being understood that these dimensions are provided solelyas perspective for understanding the invention and are not per selimiting on the scope of the invention:

-   -   i. Sleeve 240 axial length: 3.76±0.25 mm    -   ii. Sleeve 240 outside diameter: 1.118±0.051 mm    -   iii. Sheath 214 outside diameter: 1.016±0.051 mm    -   iv. Sheath 214 inside diameter: 0.838±0.001 mm

Referring to FIG. 6, which shows how data for pullback and rotationfunctions are transmitted, a pullback and rotation control unit (PBR)300 is shown as including a stationary printed circuit board (PCB)controller 303 for controlling a non-rotating PCB section 302 that islinearly movable and a rotating PCB section 301 that rotates and moveslinearly. Non-rotating PCB section 302 and rotating PCB section 301 arelinearly translatable and signals may be transmitted therebetween viaslip rings or the like. Control unit 300 serves to permit controlledrotation and longitudinal translation of the catheter torque cable 136or 236 in FIGS. 3 and 5, respectively, from an operator console 304 atwhich a system processor and a near infrared laser are located.Longitudinal translation is effected in a conventional manner, forexample by means of a lead screw and rotary motor that power the leadscrew via a pulley and belt arrangement. Rotating PCB 301 and the rotarymotor may be mounted on a shuttle (indicated by broken lines in FIG. 6)that is movable linearly within PBR 300. Non-rotating PCB section 302may also be mounted on the shuttle to longitudinally translate with therotating PCB 301. A motor for effecting linear translation may bemounted on the housing for PBR 300. Motor control, including pullbackcontrol, may originate from the stationary PCB controller 303 as shown,or from a controller located on the rotating PCB 301 or the non-rotatingPCB 302.

The catheter is shown in a ready position in FIGS. 3 and 5. In the readyposition, the imaging tip 116 or 216 is located in the terminal lengthsection of the outer sheath 114 or 214. Preferably, the imaging tip isin its fully distal position in the ready position to provide a reliablereference point for subsequent operations. When a pullback and rotationof the imaging tip is requested from the ready position, the PBR 300 maybe configured to inhibit NIRS and IVUS data collection from the imagingtip and linearly retract the imaging tip to a start position proximallyspaced relative to the reinforcement means 140 or 240 (i.e., a startposition), after which NIRS and/or IVUS data collection may be enabledand the imaging tip may be pulled back and rotated to acquire IVUS andNIRS data along a length of the vessel. Data acquisition between theready and start positions is preferably inhibited because the sheathreinforcement may be nontransmissive of NIR light and, even if it istransmissive of IVUS energy, the sheath reinforcement may be non-uniform(e.g., uneven, tapered, and/or angled) along its length, which mightcause IVUS imaging anomalies that could be mistaken for abnormalities inthe vessel.

If the reinforcement means is transmissive of UV energy, the transduceron the imaging tip may be used in the ready position to acquire anddisplay live IVUS (LIVUS) data (e.g., by requesting LIVUS mode on thePBR unit). Alternatively, the imaging tip (and, thus, the transducer)may be retracted from the ready position to a start position proximallyspaced relative to the reinforcement means before acquiring anddisplaying LIVUS data (e.g., by requesting pullback on the PBR). Ineither case, once in LIVUS mode, the catheter (including the sheath andthe imaging tip) may be manually rotated and/or translated as a unitfrom outside the body to aim the ultrasound transducer within thevessel. Also, controls on the PBR may be used to effect lineartranslation of the imaging tip (and, thus, the transducer) relative tothe outer sheath. In an embodiment, the PBR is configured to rotate theimaging tip as it is retracted or otherwise linearly translated relativeto the outer sheath. Rotating the imaging tip during linear translationhas been found to improve operation of the catheter in tortuous vessels.

A user may request automatic pullback and rotation of the imaging tip(and, thus, the transducer) while the system is in LIVUS mode. If thesystem is in LIVUS mode and the imaging tip is in the ready positionwhen automatic pullback and rotation is requested, the PBR may beconfigured to inhibit data collection and to retract the imaging tip(and, thus, the transducer) relative to the outer sheath, to a positionproximally spaced relative to the reinforcement means (e.g., the startposition), before initiating the pullback and rotation operation. If thesystem is in LIVUS mode and the imaging tip is in the start position, orat a location proximally spaced from the start position, the pullbackand rotation operation may proceed without an initial retraction of theimaging tip.

Examples of the various states, modes or conditions of system operation400 described above are illustrated in the flow chart shown in FIG. 7 towhich reference is now made. The system is shown powered off at 401. Atpower on the system goes through an initialization state or mode 403 andthen goes into a home rotary state or mode 405 (e.g., wherein the rotarymotor spins the rotary axis of the rotating PCB until it finds an indexmark in an encoder). It then places the system in a home linear state ormode 407 (e.g., by moving the lead screw until it finds the boundary ofa linear sensor at the desired home position). If the sensor is notfound, the user at the console may actuate keys at the console keypad oron the PBR to place the system in the home linear state. When the systemis in the home linear state or mode 407 both the rotational and linearaxes are at home and the system enters a catheter disconnected state ormode 408 from which it can go to an idle state or mode 409 if a catheteris already connected to the PBR or it can remain in the catheterdisconnected mode awaiting connection of a catheter. If a catheter isconnected to the PBR in the catheter disconnected mode 408, the systementers a catheter jog state or mode 410 in which the PBR is configuredto automatically advance the carriage distally a small distance (e.g., 1mm) to ensure that the catheter is seated on the nose piece of the PBR.Seating the catheter on the nose piece in this manner ensures propertransfer of linear and rotational forces as well as proper communicationof electrical and optical signals across the coupling. In an embodiment,the catheter and PBR may be configured to connect only when the imagingtip is at or very near the ready position (e.g., by configuring hubcomponents of the catheter to align with corresponding portions of thenose piece of the PBR only when the imaging tip is at or very near theready position). To this end, translation buttons on the PBR may beoperable in the catheter disconnected mode 408 to linearly translate theimaging tip to the ready position. If a catheter is then connected, thesystem moves to the above-described catheter jog state 410, to ensureproper seating of the catheter, and enters the idle mode 409.

Consider the system as being in an idle mode 409 in which the catheteris connected to the PBR and no data is being taken. As noted above, theimaging tip is preferably at or near its ready (e.g., fully distal)position when the system enters the idle mode 409. If LIVUS is requested(e.g., by actuating a LIVUS key on the PBR or console) while the systemis in the idle mode 409, the system is placed in the LIVUS requestedstate or mode 411 and then enters the LIVUS mode 413 in which data isbeing taken at the imaging tip using the ultrasound transducer. Whiledata being acquired in LIVUS mode 413 may be displayed, the system mayor may not be configured to record or save the data while in LIVUS mode.Other possible scenarios include:

-   1. In Idle mode 409, pullback is requested with the imaging tip in    the ready position:    -   a. In Idle mode 409, pullback is requested (e.g., by actuating a        pullback key on the PBR or console) with the imaging tip in the        ready position.    -   b. The system enters the LIVUS Requested state or mode 411.    -   c. A LIVUS Enable command is generated, and the system enters a        Move In Sleeve state or mode 412.    -   d. A flag to inhibit data acquisition is set, and data        acquisition is inhibited.    -   e. Linear axis velocity is obtained from computer storage (e.g.,        the linear axis velocity may be encoded in executable code)        (typically 10 mm/sec).    -   f. When the rotary axis speed reaches a predetermined value,        linear translation of torque cable begins.    -   g. Torque cable is linearly translated to move the imaging tip        to a start position that is displaced from its previous position        by the axial length of the terminal length section of the outer        sheath.    -   h. After the imaging tip reaches the start position, the LIVUS        mode 413 is entered, and the flag to inhibit data acquisition is        cleared.    -   i. The system resumes sending data from the retracted position.-   2. In LIVUS mode 413, pullback is requested with the imaging tip in    the ready position:    -   a. In LIVUS mode 413, collected data is sent to the computer at        the console which may or may not be saving/recording.    -   b. Pullback is requested (e.g., by actuating the pullback key or        switch on the PBR or console).    -   c. Move In Sleeve mode 412 is entered.    -   d. A flag to inhibit data acquisition is set, and data        acquisition is inhibited.    -   e. When rotary axis speed reaches a predetermined speed, linear        translation of torque cable begins and imaging tip begins        axially traversing reinforcing sleeve.    -   f. Torque cable is linearly translated to move imaging tip        proximally to a position that is displaced from the ready        position by the axial length of the reinforcing sleeve (e.g.,        the start position).    -   g. After the imaging tip reaches the new position, LIVUS mode        413 is entered, and the flag to inhibit data acquisition is        cleared.    -   h. The system resumes sending IVUS data from the new position.-   3. In LIVUS mode, proximal translation is requested with the imaging    tip in the ready position.    -   a. In LIVUS mode 413, data is sent to the console computer,        which may or may not be saving/recording the data.    -   b. A command is entered to translate the imaging tip in a        proximal direction (e.g., by pressing a key on the PBR unit),        placing the system in a LIVUS translation state 425.    -   c. A flag to inhibit data acquisition is set and data        acquisition is inhibited.    -   d. When rotary axis speed reaches a predetermined speed, linear        translation of the torque cable begins and the imaging tip        begins axially traversing the sheath reinforcement.    -   e. The torque cable is linearly translated to move the imaging        tip proximally to a position that is displaced from the ready        position by the axial length of the sheath reinforcement at the        speed selected by the particular translate key. If the user        continues to press the translate key after the imaging tip has        been repositioned, the imaging tip will continue to be linearly        translated at the selected speed. If the user stops pressing the        translate key while the imaging tip is being repositioned, the        system will continue to move the imaging tip proximally to a        position that is displaced from the ready position by the axial        length of the sheath reinforcement.    -   f. After the imaging tip reaches its new position, LIVUS mode        413 is entered, and the flag to inhibit data acquisition is        cleared.    -   g. The LIVUS state 413 resumes sending data from its new        retracted position.-   4. In Idle mode 409, pullback is requested with the imaging tip in    the start position:    -   a. In Idle mode 409, pullback is requested (e.g., by actuating        the pullback key on the PBR or console) with the imaging tip in        the start position.    -   b. The system enters a Pullback (“PB”) Requested state or mode        415 in which the system waits for permission to perform a        pullback.    -   c. If permission is received within a predetermined time-out        period, the system enters a PB Moving state or mode 417 in which        the imaging tip is simultaneously rotated and translated        proximally and in which data acquisition is enabled. Otherwise,        the system returns to the Idle mode 409.    -   d. In the PB Moving mode 417, LIVUS and NIR data are collected        while the imaging tip is rotated and retracted proximally by the        PBR.    -   e. If the system senses that the imaging tip has reached the end        of its travel, or if the user terminates pullback (e.g., by        pressing a stop key on the PBR or the console), the system        enters a Stop Acquisition state or mode 419 in which motion and        data acquisition are disabled.    -   f. The system may then return to the Idle mode 409 (e.g., after        a predetermined amount of time or after receiving a command from        the console computer), from which the user may enter a Translate        state or mode 421 (e.g., by pressing an arrow button on the PBR        or console) to return the imaging tip to the start or ready        positions.-   5. In LIVUS mode 413, pullback is requested with the imaging tip in    the start position (e.g., after scenario #2):    -   a. In LIVUS mode 413, pullback is requested (e.g., by actuating        the pullback key on the PBR or console) with the imaging tip in        the start position.    -   b. The system enters a Pullback (“PB”) Requested state or mode        423 in which the system waits for permission to perform a        pullback.    -   c. If permission is received within a predetermined time-out        period, the rotational speed of the imaging tip is adjusted to a        scanning speed and the system enters a PB Moving state or mode        417 in which the imaging tip is simultaneously rotated and        translated proximally and in which data acquisition is enabled.        Otherwise, the system returns to the LIVUS mode 413.    -   d. In the PB Moving mode 417, LIVUS and NIR data are collected        while the imaging tip is rotated and retracted proximally by the        PBR.    -   e. If the system senses that the imaging tip has reached the end        of its travel, or if the user terminates pullback (e.g., by        pressing a stop key on the PBR or the console), the system        enters a Stop Acquisition state or mode 419 in which motion and        data acquisition are disabled.    -   f. The system may then return to the Idle mode 409 (e.g., after        a predetermined amount of time or after receiving a command from        the console computer), from which the user may enter a Translate        state or mode 421 (e.g., by pressing an arrow button on the PBR        or console) to return the imaging tip to the start or ready        positions.

In an example embodiment, the initialize state 403, home rotary state405, and home linear state 407 are examples of one time states (i.e.,they occur once per reset). The Idle state 409, LIVUS requested state411, LIVUS mode 413, PB requested states 415 and 423, and stopacquisition state 417 are examples of linear motion disabled states(i.e., states in which motion of the imaging tip relative to the sheathis disabled) that can occur more than once during a procedure. The PBmoving state 417, and the LIVUS translation state 425 are examples oflinear motion enabled states (i.e., states in which motion of theimaging tip relative to the sheath is enabled).

In an example embodiment, the PBR 300 may be configured to retract theimaging tip from the ready state at a speed that is different than thespeed at which it pulls back the imaging tip from the start state. Forexample, the PBR may be configured to reposition or retract the imagingtip from the ready state to the start state at 2 mm/sec or 10 mm/sec,and to pull back the imaging tip back from the start state at 0.5mm/sec, 1 mm/sec, or 2 mm/sec while acquiring data. In an exampleembodiment, while in LIVUS mode, the imaging tip may be translated bythe user at 2 mm/sec or 10 mm/sec.

In an example embodiment, pressure or force sensors may be mounted onthe nose piece of the PBR and the system may be configured to monitor anaxial force exerted on the nose piece by the inner member (e.g., thetorque cable) and to enter a Force Error state or mode 429 when theimaging tip is moving distally in the sheath and the axial force on thenose piece exceeds a predetermined threshold (e.g., suggesting that therotating imaging tip is encountering a kink in the outer sheath or anextremely tortuous anatomical feature or user error). Since excessiveforce can indicate a dangerous condition (e.g., a risk of penetrationthrough the outer sheath), in the Force Error mode 429, the system mayperform one or more remedial actions. For example, the system mayautomatically stop rotation and/or further linear translation of theimaging tip. Alternatively, the system may automatically retract theimaging tip proximally a predetermined distance (e.g., 10 mm). Thesystem may continue to rotate the imaging tip during retractionfollowing a force error event.

For any fault other than a force error, the system may be configured toenter an In Fault state or mode 431 in which the system automaticallystops rotation and linear translation of the imaging tip.

It will be appreciated that the particular modes and states describedabove and illustrated in FIG. 7 represent a particular embodiment of asystem in which an imaging tip in an imaging catheter may be selectivelypulled back or retracted from a position at a specified length sectionof the catheter. The pullback may be necessitated because of degradationof transmissivity of light (e.g., near infrared light) at the specifiedlength section due to structural enhancement thereof or for otherreasons (such as non-uniformity of ultrasound transmissiveness). It willbe appreciated that various modifications can be made. For example, whena pullback and rotation is requested from a ready/idle state, the PBRmay be configured to inhibit data collection and linearly retract theimaging tip to a position proximally spaced relative to thereinforcement means, after which data collection may be enabled and theimaging tip may be pulled back and rotated to collect NIR and/or IVUSdata. It will also be appreciated that, instead of selectivelyretracting the imaging tip prior to collecting data, data may becollected through the reinforcement means and subjected to dataprocessing specific to the reinforced section which differs from thenormal data processing used to process data collected throughunreinforced sections of the catheter.

The above-described embodiments are provided by way of example and arenot intended to limit the scope of the invention. Persons of ordinaryskill in the art will appreciate that various modifications and changesmay be made without departing from the spirit and scope of theinvention. It should be understood that features described with respectto one embodiment may be used with other embodiments.

1. An imaging catheter comprising: an elongate outer sheath made of amaterial that is transmissive of near infrared light, the outer sheathincluding a terminal section at a distal end of the outer sheath and amain section extending from a proximal end of the outer sheath to theterminal section; a guidewire section extending distally from the distalend of the outer sheath and including a lumen configured to receive aguidewire; a torque cable rotatably disposed in the outer sheath; animaging tip located at a distal end of the torque cable, the imaging tipincluding optical components configured to transmit and receive nearinfrared light via the outer sheath, and the torque cable beingconfigured to position the imaging tip at the terminal section of thesheath; and a sheath reinforcement disposed along only the terminalsection of the outer sheath and configured to resist transverse bendingof the terminal section of the outer sheath.
 2. The imaging catheter ofclaim 1 wherein the sheath reinforcement includes a sleeve of materialannularly abutting and surrounding the terminal section of the outersheath.
 3. The imaging catheter of claim 2 wherein the sleeve is of thesame material as the outer sheath.
 4. The imaging catheter of claim 2wherein the sleeve is of a different material than the outer sheath. 5.The imaging catheter of claim 1 wherein the sheath reinforcement isconfigured to cause the terminal section of the outer sheath to have aflexure modulus more than twice that of the main section of the outersheath.
 6. The imaging catheter of claim 1 wherein the sheathreinforcement is configured to cause the terminal section of the outersheath to have a flexure modulus more than two and a half times that ofthe main section of the outer sheath.
 7. The imaging catheter of claim 1wherein the flexure modulus of the reinforced terminal section of theouter sheath is greater than 160 Mpa.
 8. The imaging catheter of claim 1wherein a combined thickness of the terminal section of the outer sheathand the sheath reinforcement is more than twice that of the main sectionof the outer sheath.
 9. The imaging catheter of claim 1 wherein thesheath reinforcement has a length that is longer than the imaging tip.10. The imaging catheter of claim 1 wherein the sheath reinforcementextends distally beyond the terminal section of the outer sheath to theguidewire section.
 11. The imaging catheter of claim 1 wherein thesheath reinforcement is made of a material that is reflective of nearinfrared light.
 12. The imaging catheter of claim 1 wherein the sheathreinforcement is doped with doping material that provides near infraredreflectivity.
 13. The imaging catheter of claim 12 wherein the dopingmaterial is selected from the group comprising barium sulfate and carbonblack.
 14. The imaging catheter of claim 1 wherein the imaging tipfurther includes an ultrasound transducer and wherein the terminalsection and the sheath reinforcement are both transmissive of ultrasoundenergy.
 15. The imaging catheter of claim 1 wherein the sheathreinforcement has optical characteristics that limit transmission ofnear infrared light therethrough, and further comprising a pullbacksystem including a linear translation stage coupled with the cable andconfigured to selectively retract the cable proximally to axiallyrelocate the imaging tip immediately proximal the terminal section ofthe outer sheath and the sheath reinforcement.
 16. A method of operatingthe catheter of claim 1 comprising selectively retracting the torquecable proximally to axially relocate the imaging tip proximal theterminal section of the outer sheath and the sheath reinforcement.
 17. Amethod of preventing kinking of a near infrared light transmissivesheath of an intraluminal imaging catheter as the catheter is pusheddistally through a blood vessel or the like using a guidewire threadedthrough a guidewire lumen section at a distal end of the catheter,wherein the sheath includes a terminal section adjacent the guidewirelumen section and a main section extending proximally from the terminalsection, said method comprising disposing a sleeve of material inannularly abutting and surrounding relation about only the terminalsection of the sheath, and positioning an imaging tip at the distal endof a torque cable in the terminal section of the sheath.
 18. The methodof claim 17 wherein the step of disposing comprises forming the sleeveby molding it with the outer sheath.